X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/0cfde1d2b81d51e73e45e178cdce58e10dcda0a4..c8ace325585de747206daed3291c0b6bb790a81b:/latester/latester.c diff --git a/latester/latester.c b/latester/latester.c index 1ab9781..6f4aefd 100644 --- a/latester/latester.c +++ b/latester/latester.c @@ -1,6 +1,6 @@ /**************************************************************************/ /* CAN latency tester */ -/* Copyright (C) 2010, 2011 Michal Sojka, DCE FEE CTU Prague */ +/* Copyright (C) 2010, 2011, 2012, 2013 Michal Sojka, DCE FEE CTU Prague */ /* License: GPLv2 */ /**************************************************************************/ @@ -197,20 +197,34 @@ crc_t crc_update(crc_t crc, uint32_t data, size_t bit_len) return crc; } +uint32_t calc_bitmap_crc(uint32_t *bitmap, unsigned start, unsigned end) +{ + crc_t crc = 0; + crc = crc_update(crc, bitmap[0] << start, 32 - start); + crc = crc_update(crc, bitmap[1], 32); + crc = crc_update(crc, bitmap[2], end - 64 > 32 ? 32 : end - 64); /* FIXME: This seems to be broken for end < 64 */ + crc = crc_update(crc, bitmap[3], end > 96 ? end - 96 : 0); + return crc << 17; +} + unsigned calc_stuff_bits(struct can_frame *frame) { uint32_t bitmap[4]; unsigned start = 0, end; uint32_t mask, ones = 0, basemask = 0xf8000000; unsigned stuffed = 0; memset(bitmap, 0, sizeof(bitmap)); - crc_t crc = 0; - uint32_t crcx; + uint32_t crc; /* char received[64]; */ /* sprint_canframe(received, frame, true); */ /* printf("Frame: %s\n", received); */ if (frame->can_id & CAN_EFF_FLAG) { + // bit 31 0 + // [0] |...........................sBBBB| s = SOF, B = Base ID (11 bits) + // [1] |BBBBBBBSIEEEEEEEEEEEEEEEEEER10DLC4| S = SRR, I = IDE, E = Extended ID (18 bits), DLC4 = DLC + // [2] |00000000111111112222222233333333| Data bytes, MSB first + // [3] |44444444555555556666666677777777| bitmap[0] = ((frame->can_id & CAN_EFF_MASK) >> 25); bitmap[1] = @@ -220,33 +234,28 @@ unsigned calc_stuff_bits(struct can_frame *frame) { (!!(frame->can_id & CAN_RTR_FLAG)) << 6 | 0 << 4 | frame->can_dlc & 0xf; - bitmap[2] = htonl(((uint32_t*)frame->data)[0]); - bitmap[3] = htonl(((uint32_t*)frame->data)[1]); + memcpy(&bitmap[2], &frame->data, frame->can_dlc); start = 27; end = 64 + 8*frame->can_dlc; - crc = crc_update(crc, bitmap[0] << start, 32-start); - crc = crc_update(crc, bitmap[1], 32); - crc = crc_update(crc, bitmap[2], end - 64 > 32 ? 32 : end - 64); - crc = crc_update(crc, bitmap[3], end > 96 ? end - 96 : 0); - crcx = (uint32_t)htons(crc) << 17; - if (frame->can_dlc < 4) - bitmap[2] |= crcx >> (frame->can_dlc*8); - if (frame->can_dlc = 3) - bitmap[3] |= crcx << 8; - if (frame->can_dlc >= 4) - bitmap[3] |= crcx >> (frame->can_dlc*8); } else { + // bit 31 0 + // [0] |.............sIIIIIIIIIIIRE0DLC4| s = SOF, I = ID (11 bits), R = RTR, E = IDE, DLC4 = DLC + // [1] |00000000111111112222222233333333| Data bytes, MSB first + // [2] |44444444555555556666666677777777| bitmap[0] = (frame->can_id << 7) | (!!(frame->can_id & CAN_RTR_FLAG)) << 6 | 0 << 4 | frame->can_dlc & 0xf; - bitmap[1] = htonl(((uint32_t*)frame->data)[0]); - bitmap[2] = htonl(((uint32_t*)frame->data)[1]); + memcpy(&bitmap[1], &frame->data, frame->can_dlc); start = 13; end = 32 + 8*frame->can_dlc; } - /* TODO: Calc stuff bits in CRC */ + crc = calc_bitmap_crc(bitmap, start, end); + uint32_t crc_be = htons(crc << 17); + memcpy((char*)bitmap + end/8, &crc_be, 2); /* end is guaranteed to be divisible by 8 */ + end += 15; + while (start < end) { mask = basemask >> (start & 0x1f); while (1) { @@ -305,6 +314,9 @@ void msg_info_print(FILE *f, struct msg_info *mi) static long num = 0; char sent[64], received[64]; + if (!f) + return; + sprint_canframe(sent, &mi->sent, true); sprint_canframe(received, &mi->received, true); @@ -972,37 +984,41 @@ int main(int argc, const char *argv[]) histogram_fprint(&histogram, opt.f_hist); histogram_fprint(&histogram_gw, opt.f_hist_gw); - fclose(opt.f_hist); - fclose(opt.f_hist_gw); - fclose(opt.f_msgs); - - - fprintf(opt.f_stat, "cmdline='"); - for (i=0; i